RobotStudio event

Moving Wobj by Robtarget

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Dzmitry
Dzmitry ✭
in RAPID Programming
Hi,

I have a point P1made in wobj_1 and point P2 made in wobj0. I need to create wobj_2 that way that the coordinate P2 in wobj_2 should be the same as P1 in wobj_1.

Are there some functions like "Adjust Robtargets" that can do that?
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  • lemster68
    lemster68 ✭✭✭
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    Can you elaborate some more please?  Is it really just one point or are you talking many points?  Is wobj_2 exactly the same as wobj_1 or different?
    Lee Justice
  • Dzmitry
    Dzmitry ✭
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    Yes, it's just one point.

    wobj_2 is not the same as wobj_1.
  • guillaumebatun
    guillaumebatun ✭
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    I have not tested this but basically this is a matrix equation.
    Both poses have in common that they end up in the same pose wrt to the robot base.
    So P2 in wobj2 = P1 in wobj1
    PoseMult(Wobj2.pose,P2.pose) = PoseMult(Wobj1.pose,P1.pose)

    PoseMult(PoseMult(Wobj2.pose,P2.pose),PoseInv(P2.pose)) = PoseMult(PoseMult(Wobj1.pose,P1.pose),PoseInv(P2.pose))
    this is what I am unsure about, does the left side equal wobj2 now?

    Wobj2.pose = PoseMult(PoseMult(Wobj1.pose,P1.pose),PoseInv(P2.pose))
    Try it out! :smile:
  • Dzmitry
    Dzmitry ✭
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    guillaumebatun said:
    I have not tested this but basically this is a matrix equation.
    Both poses have in common that they end up in the same pose wrt to the robot base.
    So P2 in wobj2 = P1 in wobj1
    PoseMult(Wobj2.pose,P2.pose) = PoseMult(Wobj1.pose,P1.pose)

    PoseMult(PoseMult(Wobj2.pose,P2.pose),PoseInv(P2.pose)) = PoseMult(PoseMult(Wobj1.pose,P1.pose),PoseInv(P2.pose))
    this is what I am unsure about, does the left side equal wobj2 now?

    Wobj2.pose = PoseMult(PoseMult(Wobj1.pose,P1.pose),PoseInv(P2.pose))
    Try it out! :smile:
    Thanks, I'll try it

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